Fix SerializedPublisher not being able to read it's parameters

fuse_core/include/fuse_core/parameter.hpp

@@ -49,6 +49,9 @@
 namespace fuse_core
 {
 
+// Helper function to get a namespace string with a '.' suffix, but only if not empty
+std::string joinParameterName(const std::string & left, const std::string & right);
+
 // NOTE(CH3): Some of these basically mimic the behavior from rclcpp's node.hpp, but for interfaces
 
 /**

fuse_core/src/parameter.cpp

@@ -83,4 +83,21 @@ detail::list_parameter_override_prefixes(
   }
   return output_names;
 }
+
+std::string joinParameterName(const std::string & left, const std::string & right)
+{
+  if (left.empty()) {
+    return right;
+  }
+  if (right.empty()) {
+    return left;
+  }
+  if ('.' != left.back() && '.' != right.front() ) {
+    return left + '.' + right;
+  }
+  if ('.' == left.back() && '.' == right.front()) {
+    return left + right.substr(1);
+  }
+  return left + right;
+}
 }  // namespace fuse_core

fuse_core/test/test_parameter.cpp

@@ -95,3 +95,13 @@ TEST(parameter, list_parameter_override_prefixes)
     EXPECT_NE(matches.end(), matches.find("baz"));
   }
 }
+
+TEST(parameter, joinParameterName)
+{
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo", "bar"));
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo.", "bar"));
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo", ".bar"));
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo.", ".bar"));
+  EXPECT_EQ("foo", fuse_core::joinParameterName("foo", ""));
+  EXPECT_EQ("bar", fuse_core::joinParameterName("", "bar"));
+}

fuse_publishers/src/serialized_publisher.cpp

@@ -69,17 +69,27 @@ void SerializedPublisher::initialize(
 void SerializedPublisher::onInit()
 {
   // Configure the publisher
-  frame_id_ = fuse_core::getParam(interfaces_, "frame_id", frame_id_);
+  frame_id_ = fuse_core::getParam(
+    interfaces_,
+    fuse_core::joinParameterName(name_, "frame_id"), frame_id_);
 
   bool latch = false;
-  latch = fuse_core::getParam(interfaces_, "latch", latch);
+  latch = fuse_core::getParam(
+    interfaces_,
+    fuse_core::joinParameterName(name_, "latch"), latch);
 
   rclcpp::Duration graph_throttle_period{0, 0};
-  fuse_core::getPositiveParam(interfaces_, "graph_throttle_period", graph_throttle_period, false);
+  fuse_core::getPositiveParam(
+    interfaces_,
+    fuse_core::joinParameterName(name_, "graph_throttle_period"),
+    graph_throttle_period, false);
 
   bool graph_throttle_use_wall_time{false};
   graph_throttle_use_wall_time =
-    fuse_core::getParam(interfaces_, "graph_throttle_use_wall_time", graph_throttle_use_wall_time);
+    fuse_core::getParam(
+      interfaces_,
+      fuse_core::joinParameterName(name_, "graph_throttle_use_wall_time"),
+      graph_throttle_use_wall_time);
 
   graph_publisher_throttled_callback_.setThrottlePeriod(graph_throttle_period);